CN105856250B - A kind of four feet walking robot - Google Patents
A kind of four feet walking robot Download PDFInfo
- Publication number
- CN105856250B CN105856250B CN201610338623.9A CN201610338623A CN105856250B CN 105856250 B CN105856250 B CN 105856250B CN 201610338623 A CN201610338623 A CN 201610338623A CN 105856250 B CN105856250 B CN 105856250B
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- China
- Prior art keywords
- connecting rod
- frame
- shaped connecting
- side chain
- servomotor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
A kind of four feet walking robot, it includes frame, four structure identical pedipulators and electric appliance unit, wherein, four pedipulators are connected on four angles of frame by rotary shaft respectively, and the electric appliance unit is fixed in above frame；Every pedipulator mainly includes rectangular ring-shaped piece, double parallel quadrangular mechanism, elastic toes and is coupled to three structure identicals between frame and double parallel quadrangular mechanism with parallel way by servomotor fuselage and ball pair respectively and drives side chain, one group of opposite side of the rectangular ring-shaped piece is connected to one jiao of frame, its another group of opposite side is connected with the middle and upper part of double parallel quadrangular mechanism, and elastic toes are connected firmly by the lower end of bolt and double parallel quadrangular mechanism；Described three driving side chains of structure identical include servomotor, crank and connecting rod.Present invention motion is flexible, and the speed of travel is fast, and working space is big, and bearing capacity is strong, can protective characteristic it is good.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of four feet walking robot
Background technology
The features such as Multifeet walking robot has that foot point is discrete, and motion is flexibly and to ground strong adaptability should in robot
It is more and more extensive with the development prospect in field.Four feet walking robot is stronger than two-foot walking robot bearing capacity, stability is good,
Better than six foots, eight feet walking robot flexibilities, control is simple, thus it is more widely applied.Existing four-legged walking machine
The leg structure of people mainly has a series connection and two kinds of forms in parallel, and wherein cascaded structure leg is mainly characterized in that working space is big, fortune
It is dynamic flexibly, control is simple, swing of leg inertia force is larger, rigidity is relatively low, deadweight/duty ratio is big and can protective characteristic it is poor, it is in parallel
Being mainly characterized in that for structure leg is compact-sized, rigidity is big, deadweight/duty ratio is small, working space is smaller, and control is more complicated and can prevent
It is poor to protect characteristic.Therefore, leg working space and the high application scenario of large carrying capacity, protection level are required simultaneously at some,
The walking robot for possessing above-mentioned leg structure is difficult to play its due function.
The content of the invention
It is an object of the invention to provide a kind of leg working space is big, bearing capacity is strong, can the good four-footed of protective characteristic
Walking robot.Every leg of the four feet walking robot of the present invention uses the knot of parallel drive space double parallel quadrangular mechanism
Configuration formula, there is one-dimensional movement and two-dimensional rotary three degree of freedom.
Technical scheme is as follows：
The present invention includes frame, four structure identical pedipulators and electric appliance unit, wherein, four pedipulators difference
It is connected to by rotary shaft on four angles of frame, the electric appliance unit is connected in above frame, for controlling servomotor；
The frame is provided with through hole to be connected and mitigate deadweight with pedipulator, and each rotary shaft is arranged in parallel；
Every pedipulator mainly includes rectangular ring-shaped piece, double parallel quadrangular mechanism, elastic toes and passed through respectively
Three structure identicals that servomotor fuselage and ball pair are coupled to parallel way between frame and double parallel quadrangular mechanism are driven
Dynamic side chain, wherein, one group of opposite side of the rectangular ring-shaped piece in the pedipulator is connected to frame one by a pair of first rotary shafts
Angle, another group of opposite side of rectangular ring-shaped piece are connected by the 4th rotary shaft with the middle and upper part of double parallel quadrangular mechanism, elasticity foot
Toe is connected firmly by the lower end of bolt and double parallel quadrangular mechanism；
Described three driving side chains of structure identical include servomotor, crank and connecting rod, wherein, in the first driving side chain
The first servomotor and frame it is affixed, the output shaft of first servomotor passes through the first crank and one end ball of first connecting rod
Pair connection, the other end of the first connecting rod are connected by ball pair with one end of second driving shaft；Second in second driving side chain
Servomotor is affixed with frame, and the output shaft of second servomotor is secondary even by one end ball of the second crank and second connecting rod
Connect, the other end of the second connecting rod is connected by ball pair with the other end of second driving shaft；The 3rd in 3rd driving side chain watches
Taking that motor is affixed with frame, the output shaft of the 3rd servomotor connects by the way that one end ball of the 3rd crank and third connecting rod is secondary,
The other end of the third connecting rod is secondary with being connected in the middle part of the first power transmission shaft by ball；Three servomotor phases in three driving side chains
Mutually it be arranged in parallel, the first driving side chain and the second driving side chain are arranged symmetrically along the perpendicular where the first rotary shaft respectively,
The 3rd crank on 3rd driving side chain rotates in the perpendicular where the first rotary shaft all the time.
Described double parallel quadrangular mechanism includes six H-shaped connecting rods, five rotary shafts and two power transmission shafts, wherein, the
The both ends of one H-shaped connecting rod are connected by a pair of second rotary shafts with one end of the second H-shaped connecting rod and the 6th H-shaped connecting rod respectively, should
The middle and upper part of second H-shaped connecting rod and the other end of the 6th H-shaped connecting rod pass through a pair of the 6th rotary shafts and the 3rd H-shaped connecting rod respectively
Middle and lower part is connected with one end, and the other end of the 3rd H-shaped connecting rod is connected by the 3rd rotary shaft with one end of the 4th H-shaped connecting rod,
The bottom two sides of 4th H-shaped connecting rod are connected with second driving shaft respectively, and the other end of the 4th H-shaped connecting rod passes through the 4th turn
Moving axis is connected with the middle and upper part of the 5th H-shaped connecting rod, and one end of the 5th H-shaped connecting rod passes through the 5th revolute pair and the second H-shaped connecting rod
Other end connection, the other end of the 5th H-shaped connecting rod is connected with the first drive axis, and all rotary shafts are parallel to each other
Set；Every leg passes through the reality that is synchronized with the movement of the first driving side chain and the second driving side chain under the collaboration of the 3rd driving side chain
Existing swing and leg are stretched, and realize that side-sway and leg are stretched by the asynchronous movement of the first driving side chain and the second driving side chain
Contracting；Realize the forward-reverse of robot by the cooperative motion of four legs, sidesway and the action such as squat down.
The present invention has the following advantages that compared with prior art：
The speed of travel is fast, obstacle climbing ability is strong, bearing capacity is strong, can protective characteristic is good, assembly process process is good.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of pedipulator of the present invention.
Fig. 3 drives side chain solid simplified schematic diagram for the present invention first.
Fig. 4 drives side chain solid simplified schematic diagram for the present invention the 3rd.
Fig. 5 is the three-dimensional simplified schematic diagram of double parallel quadrangular mechanism of the present invention.
Fig. 6 is the three-dimensional simplified schematic diagram of the elastic toes of the present invention.
In figure:1st, 2,3,4. pedipulator, 5. frames, 6. electric appliance units, 7. elastic toes, 8. double parallel quadrangular mechanisms,
9. the first driving side chain, 10. second driving side chains, the 11, the 3rd driving side chain, 12. rectangular ring-shaped pieces, 13,13 ＇ first are rotated
Axle, 14. first power transmission shafts, 15. second driving shafts, 16. first servomotors, 17. second servomotors, 18. the 3rd servos electricity
Machine, 19. first cranks, 20. first connecting rods, 21. second cranks, 22. second connecting rods, 23. the 3rd cranks, 24. third connecting rods,
25. the first H-shaped connecting rod, 26,26 the second rotary shafts of ＇, 27. second H-shaped connecting rods, 28. the 3rd H-shaped connecting rods, 29. the 3rd rotary shafts,
30. the 4th H-shaped connecting rod, 31. the 4th rotary shafts, 32. the 5th H-shaped connecting rods, 33. the 5th rotary shafts, the rotary shafts of 34,34 ＇ the 6th,
35. the 6th H-shaped connecting rod, 36,36 ＇ bolts.
Embodiment
In the four feet walking robot schematic diagram shown in Fig. 1, four structure identical pedipulators 1,2,3,4 pass through respectively
Rotary shaft is connected on four angles of frame 5, and the electric appliance unit 6 is connected in above frame；The frame is provided with through hole
To be connected and mitigate deadweight with pedipulator, each rotary shaft for being connected with frame is arranged in parallel；Such as Fig. 2-Fig. 6 institutes
Show, every pedipulator mainly passes through including rectangular ring-shaped piece, double parallel quadrangular mechanism, elastic toes and respectively servo electricity
Three structure identicals that machine fuselage and ball pair are coupled to parallel way between frame and double parallel quadrangular mechanism drive side chain,
Wherein, in the pedipulator, one group of opposite side of rectangular ring-shaped piece 12 is connected to one jiao of frame by a pair of first rotary shafts 13,
Another group of opposite side of rectangular ring-shaped piece is connected by the 4th rotary shaft 31 with the middle and upper part of double parallel quadrangular mechanism 8, elasticity foot
Toe 7 is connected firmly by the lower end of bolt 36,36 ＇ and double parallel quadrangular mechanism；Described three driving side chains of structure identical include
Servomotor, crank and connecting rod, wherein, the first servomotor 16 and frame in the first driving side chain 9 are affixed, first servo
The output shaft of motor is connected by the first crank 19 with one end ball pair of first connecting rod 20, and the other end of the first connecting rod passes through ball
Pair is connected with one end of second driving shaft 15；The second servomotor 17 and frame in second driving side chain 10 is affixed, and this second
The output shaft of servomotor is connected by the second crank 21 with one end ball pair of second connecting rod 22, and the other end of the second connecting rod leads to
Ball pair is crossed to be connected with the other end of second driving shaft；The 3rd servomotor 18 and frame in 3rd driving side chain 11 is affixed, should
The output shaft of 3rd servomotor is connected by the way that one end ball of the 3rd crank 23 and third connecting rod 24 is secondary, the third connecting rod it is another
End couples by the way that ball is secondary with the middle part of the first power transmission shaft 14；Three servomotors in three driving side chains are arranged in parallel, the
One driving side chain and the second driving side chain are arranged symmetrically along the perpendicular where the first rotary shaft respectively, on the 3rd driving side chain
The 3rd crank rotated all the time in the perpendicular where the first rotary shaft.Described double parallel quadrangular mechanism includes six
H-shaped connecting rod, five rotary shafts and two power transmission shafts, wherein, the both ends of the first H-shaped connecting rod 25 pass through a pair of second rotary shafts respectively
26th, 26 ＇ are connected with one end of the second H-shaped connecting rod 27 and the 6th H-shaped connecting rod 35, the middle and upper part of the second H-shaped connecting rod and the 6th H-shaped
The other end of connecting rod is connected by a pair the 6th rotary shafts 34,34 ＇ with the middle and lower part of the 3rd H-shaped connecting rod 28 and one end respectively, should
The other end of 3rd H-shaped connecting rod is connected by the 3rd rotary shaft 29 with one end of the 4th H-shaped connecting rod 30, the 4th H-shaped connecting rod
Bottom two sides are connected with second driving shaft 15 respectively, and the other end of the 4th H-shaped connecting rod passes through the 4th rotary shaft 31 and the 5th H
The middle and upper part connection of shape connecting rod 32, one end of the 5th H-shaped connecting rod passes through the 5th rotary shaft 33 and the other end of the second H-shaped connecting rod
Connection, the other end of the 5th H-shaped connecting rod rotates with the first power transmission shaft 14 to be coupled, and all rotary shafts are arranged in parallel；
The distance between the pair of second rotary shaft 26,26 ＇ are equal with the distance between the pair of 6th rotary shaft 34,34 ＇, turn
Moving axis 26, the distance between 34 is equal with the distance between the ＇ of rotary shaft 26,34 ＇, rotary shaft 29, the distance between 34 and rotation
Axle 31, the distance between 33 is equal, and rotary shaft 29, the distance between 31 is equal with rotary shaft 33, the distance between 34.Every leg
The 3rd driving side chain collaboration under, by first driving side chain and second driving side chain be synchronized with the movement realize swing and
Leg is stretched, and realizes that side-sway and leg are stretched by the asynchronous movement of the first driving side chain and the second driving side chain；Pass through four
The cooperative motion of leg realizes the forward-reverse of robot, sidesway and the action such as squat down.
Claims (1)
1. a kind of four feet walking robot, it includes frame, four structure identical pedipulators and electric appliance unit, four machines
Tool leg is connected on four angles of frame by rotary shaft respectively, and the electric appliance unit is fixed in above frame；The frame
Through hole is provided with to be connected and mitigate deadweight with pedipulator, each rotary shaft is arranged in parallel；Every pedipulator mainly includes
Rectangular ring-shaped piece, double parallel quadrangular mechanism, elastic toes and three structure identical driving side chains, wherein, the pedipulator
In one group of opposite side of rectangular ring-shaped piece be connected to one jiao of frame by a pair of first rotary shafts, another group pair of rectangular ring-shaped piece
While being connected by the 4th rotary shaft with the middle and upper part of double parallel quadrangular mechanism, elastic toes pass through bolt and double parallel quadrangle
The lower end of mechanism connects firmly；Described double parallel quadrangular mechanism includes six H-shaped connecting rods, five rotary shafts and two power transmission shafts,
Wherein, the both ends of the first H-shaped connecting rod pass through a pair of second rotary shafts and one end of the second H-shaped connecting rod and the 6th H-shaped connecting rod respectively
Connection, the middle and upper part of the second H-shaped connecting rod and the other end of the 6th H-shaped connecting rod pass through a pair of the 6th rotary shafts and the 3rd H respectively
The middle and lower part of shape connecting rod connects with one end, the other end of the 3rd H-shaped connecting rod pass through the 3rd rotary shaft and the 4th H-shaped connecting rod one
End connection, the bottom two sides of the 4th H-shaped connecting rod are connected with second driving shaft respectively, and the other end of the 4th H-shaped connecting rod leads to
Cross the 4th rotary shaft to be connected with the middle and upper part of the 5th H-shaped connecting rod, one end of the 5th H-shaped connecting rod passes through the 5th rotary shaft and second
The other end connection of H-shaped connecting rod, the other end of the 5th H-shaped connecting rod are connected with the first drive axis, and all rotary shafts are mutual
It is arranged in parallel；It is characterized in that：Three structure identicals drive side chain respectively by servomotor fuselage and ball pair with simultaneously
Connection mode is coupled between frame and double parallel quadrangular mechanism, three structure identicals driving side chain include servomotor,
Crank and connecting rod, wherein, the first servomotor and frame in the first driving side chain are affixed, the output shaft of first servomotor
Connected by the way that one end ball of the first crank and first connecting rod is secondary, the other end of the first connecting rod passes through ball pair and second driving shaft
One end couples；The second servomotor and frame in second driving side chain is affixed, and the output shaft of second servomotor passes through the
One end ball of two cranks and second connecting rod is secondary to be connected, and the other end of the second connecting rod passes through the secondary other end with second driving shaft of ball
Connection；The 3rd servomotor and frame in 3rd driving side chain is affixed, and the output shaft of the 3rd servomotor is bent by the 3rd
One end ball of handle and third connecting rod is secondary to be connected, and the other end of the third connecting rod is secondary with coupling in the middle part of the first power transmission shaft by ball；Three
Three servomotors in bar structure identical driving side chain are arranged in parallel, the first driving side chain and the second driving side chain point
It is not arranged symmetrically along the perpendicular where the first rotary shaft, the 3rd crank on the 3rd driving side chain is all the time in the first rotary shaft
Rotated in the perpendicular at place.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338623.9A CN105856250B (en) | 2016-05-20 | 2016-05-20 | A kind of four feet walking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610338623.9A CN105856250B (en) | 2016-05-20 | 2016-05-20 | A kind of four feet walking robot |
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| CN105856250A CN105856250A (en) | 2016-08-17 |
| CN105856250B true CN105856250B (en) | 2018-01-23 |
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| CN201610338623.9A Active CN105856250B (en) | 2016-05-20 | 2016-05-20 | A kind of four feet walking robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272402B (en) * | 2016-09-19 | 2018-09-07 | 江苏瑞伯特视觉科技股份有限公司 | A kind of intelligent control walks upright robot |
| CN106476544B (en) * | 2016-11-23 | 2019-04-09 | 华南理工大学 | A kind of air-ground amphibious four-footed emergency management and rescue Detecting Robot |
| CN106903672A (en) * | 2017-03-29 | 2017-06-30 | 燕山大学 | Two branch's Three Degree Of Freedom industrial robots |
| CN107097204B (en) * | 2017-06-26 | 2021-07-30 | 济南临港建设集团有限公司 | Solar robot for building engineering |
| CN107756378A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of planar three freedom rigid motion follower |
| CN108974177B (en) * | 2018-08-30 | 2020-11-06 | 蒋世豪 | Robot walking driving mechanism |
| CN112829849B (en) * | 2021-01-12 | 2022-03-08 | 北京交通大学 | Four-foot walking robot |
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| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
Family Cites Families (2)
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| JP2014087892A (en) * | 2012-10-30 | 2014-05-15 | Toshiba Corp | Leg operation control device and method for multi-leg robot |
| KR101487839B1 (en) * | 2014-05-27 | 2015-01-30 | 성균관대학교산학협력단 | Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism |
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2016
- 2016-05-20 CN CN201610338623.9A patent/CN105856250B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390458A (en) * | 2011-10-17 | 2012-03-28 | 上海交通大学 | Hydraulic driving four-footed robot with space hybrid leg structure |
| CN102514648A (en) * | 2011-12-09 | 2012-06-27 | 上海交通大学 | Four-leg walking robot with isotropic series-parallel legs |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104986240A (en) * | 2015-06-15 | 2015-10-21 | 上海交通大学 | Linear driving walking robot leg structure and parallel four-footed walking robot |
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